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Dear Mr. Thomas Helfer,
I would like to integrate your MFrontGenericInterfaceSupport library into the general purpose multibody dynamics solver [MBDyn](https://www.mbdyn.org/). So far, the small st…
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Has any effort gone into filesize? Maybe there are some low hanging fruit?
- in `@dimforge/rapier2d 0.12.0`, the file `rapier_wasm2d_bg.wasm` is `1.05MB`
- https://www.npmjs.com/package/@dimforg…
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See the comment here https://github.com/moorepants/learn-multibody-dynamics/pull/171#issuecomment-1962958217
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see https://mujoco.readthedocs.io/en/stable/computation/index.html for reference.
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This is an issue to track Drake::MBP vs alternatives (currently Pinocchio). This example is on a Cassie URDF. Some comments on the plant:
- Does not include loop closure
- Does not include contact…
mposa updated
2 years ago
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See: https://github.com/moorepants/learn-multibody-dynamics/pull/63
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The math idea is as follows: I want to get frame 2 from frame 1, and then later substitute it to my equations to compute some cross products. (Here I present the simplified code.)
```math
\begin{pma…
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Hello,
so, I'm trying to make a pinball game. I have the game board/table as a large, fixed rigid body. The flippers are dynamic rigid bodies, attached through a `MultibodyJoint` to the game board/…
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A general nonlinear tire model takes the lateral slip angle, camber angle, and normal force as inputs and outputs the lateral force.
$$
F_y = f(\alpha, \gamma, F_z)
$$
If the tires are modeled…
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The following discussion assumes that the number of actuation variables equals the number of velocity variables in MBP.
It is the case that the ordering of actuation variables may not match the or…